{"id":"https://openalex.org/W4411471910","doi":"https://doi.org/10.1109/tase.2025.3581688","title":"An Adaptive Grasping Force Tracking Strategy for Nonlinear and Time-Varying Object Behaviors","display_name":"An Adaptive Grasping Force Tracking Strategy for Nonlinear and Time-Varying Object Behaviors","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4411471910","doi":"https://doi.org/10.1109/tase.2025.3581688"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3581688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3581688","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075320747","display_name":"Ziyang Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ziyang Cheng","raw_affiliation_strings":["Weiyang College, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Weiyang College, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009748337","display_name":"Xiangyu Tian","orcid":"https://orcid.org/0000-0002-6606-5005"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyu Tian","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073097527","display_name":"Ruomin Sui","orcid":"https://orcid.org/0000-0002-5727-5633"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruomin Sui","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084772743","display_name":"Tiemin Li","orcid":"https://orcid.org/0000-0002-4755-5105"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiemin Li","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036693636","display_name":"Yao Jiang","orcid":"https://orcid.org/0000-0002-6036-6413"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Jiang","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5075320747"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19764555,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"17063","last_page":"17076"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9435999989509583,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9435999989509583,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9361000061035156,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.907800018787384,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6443804502487183},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6286636590957642},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5577373504638672},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.513661801815033},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5050542950630188},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.500878095626831},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47427448630332947},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42523622512817383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3892485797405243},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35236260294914246},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16977423429489136},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1237039864063263},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09881731867790222}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6443804502487183},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6286636590957642},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5577373504638672},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.513661801815033},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5050542950630188},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.500878095626831},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47427448630332947},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42523622512817383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3892485797405243},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35236260294914246},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16977423429489136},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1237039864063263},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09881731867790222},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3581688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3581688","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.4699999988079071}],"awards":[{"id":"https://openalex.org/G3405722980","display_name":null,"funder_award_id":"52375017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7843077684","display_name":null,"funder_award_id":"52175017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1997520484","https://openalex.org/W2014207921","https://openalex.org/W2058027719","https://openalex.org/W2153909213","https://openalex.org/W2221877149","https://openalex.org/W2293553028","https://openalex.org/W3048356206","https://openalex.org/W3064831176","https://openalex.org/W3102486441","https://openalex.org/W3175254947","https://openalex.org/W4292133364","https://openalex.org/W4296125832","https://openalex.org/W4312384059","https://openalex.org/W4312826119","https://openalex.org/W4319460008","https://openalex.org/W4381894719","https://openalex.org/W4386280002","https://openalex.org/W4386883417","https://openalex.org/W4393860058","https://openalex.org/W4394564684","https://openalex.org/W4399422602","https://openalex.org/W4401751828","https://openalex.org/W4402703313","https://openalex.org/W4402781768","https://openalex.org/W4403051681","https://openalex.org/W4404238300","https://openalex.org/W4405785069","https://openalex.org/W6929428382"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2078285315","https://openalex.org/W2964156592","https://openalex.org/W2527333706","https://openalex.org/W2808090143","https://openalex.org/W2259778155","https://openalex.org/W2765512466"],"abstract_inverted_index":{"Accurate":[0],"grasp":[1,130,207,215],"force":[2,31,44,48,61,74,168,208],"control":[3],"is":[4],"one":[5],"of":[6,17,38,41,59,106,119,125,206,221],"the":[7,36,42,46,68,117,123,179,204,218,227],"key":[8],"skills":[9],"for":[10,101,170],"ensuring":[11],"successful":[12],"and":[13,29,71,95,109,133,185,213,225],"damage-free":[14],"robotic":[15,228],"grasping":[16,30,229],"objects.":[18],"Although":[19],"existing":[20,96,198],"methods":[21],"have":[22],"conducted":[23],"in-depth":[24],"research":[25],"on":[26,78,141,148],"slip":[27],"detection":[28],"planning,":[32],"they":[33],"often":[34,84],"overlook":[35],"issue":[37],"adaptive":[39,73,155],"tracking":[40,62,75,169,209],"actual":[43],"to":[45,127,193,197],"target":[47],"when":[49],"handling":[50],"objects":[51,83,171,195],"with":[52,172],"different":[53],"material":[54],"properties.":[55],"The":[56,200],"optimal":[57],"parameters":[58],"a":[60,160],"controller":[63,162],"are":[64],"significantly":[65],"influenced":[66],"by":[67],"object\u2019s":[69],"stiffness,":[70,121,150],"many":[72],"algorithms":[76],"rely":[77],"stiffness":[79,107,126,138],"estimation.":[80,110],"However,":[81],"real-world":[82],"exhibit":[85],"viscous,":[86],"plastic,":[87],"or":[88],"other":[89],"more":[90],"complex":[91],"nonlinear":[92,128],"time-varying":[93,129,214],"behaviors,":[94],"studies":[97],"provide":[98],"insufficient":[99],"support":[100],"these":[102],"materials":[103],"in":[104,210,231],"terms":[105],"definition":[108,124],"To":[111],"address":[112],"this,":[113],"this":[114,151],"paper":[115,152],"introduces":[116],"concept":[118],"generalized":[120,137,149],"extending":[122],"system":[131],"models,":[132],"proposes":[134,153],"an":[135,154,164],"online":[136],"estimator":[139],"based":[140],"Long":[142],"Short-Term":[143],"Memory":[144],"(LSTM)":[145],"networks.":[146],"Based":[147],"parameter":[156],"adjustment":[157],"strategy":[158],"using":[159],"PI":[161],"as":[163],"example,":[165],"enabling":[166],"dynamic":[167],"varying":[173],"characteristics.":[174],"Experimental":[175],"results":[176],"demonstrate":[177],"that":[178],"proposed":[180],"method":[181,201],"achieves":[182],"high":[183],"precision":[184],"short":[186],"probing":[187],"time,":[188],"while":[189],"showing":[190],"better":[191],"adaptability":[192],"non-ideal":[194],"compared":[196],"methods.":[199],"effectively":[202],"solves":[203],"problem":[205],"unknown,":[211],"nonlinear,":[212],"systems,":[216],"demonstrating":[217],"generalization":[219],"capability":[220],"our":[222],"neural":[223],"network":[224],"enhancing":[226],"ability":[230],"unstructured":[232],"environments.":[233]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}